Charalampos Valsamos, Vassilis C Moulianitis and Nikos Aspragathos. Metamorphic Structure Representation: Designing and Evaluating Anatomies of Metamorphic Manipulators. In Jian S Dai, Matteo Zoppi and Xianwen Kong (eds.). Advances in Reconfigurable Mechanisms and Robots I. Springer London, 2012, pages 3-11. URL, AbstractIn this work the metamorphic structure representation (MSR) is proposed for the systematic development and evaluation of structures of metamorphic serial manipulators. The basic elements of MSR are presented, in terms of module and connection type. The conceptual design of metamorphic structures using MSR is presented. The criteria for evaluating emerging structures are introduced in terms of simplicity and solvability of inverse kinematics. Finally, a case study of two different structures is presented along with their subsequent evaluation.BibTeX

Elias K Xidias, Nikos A Aspragathos and Philip N Azariadis. Mission Planning of Mobile Robots and Manipulators for Service Applications. In Service Robots and Robotics. IGI Global, 2012. URL, AbstractThe purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.BibTeX

@incollection{Xidias2012,
abstract = "The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.",
author = "Xidias, Elias K. and Aspragathos, Nikos A. and Azariadis, Philip N.",
doi = "10.4018/978-1-4666-0291-5",
isbn = 9781466602915,
language = "English",
month = "",
publisher = "IGI Global",
booktitle = "{Service Robots and Robotics}",
title = "Mission Planning of Mobile Robots and Manipulators for Service Applications",
url = "http://www.igi-global.com/chapter/mission-planning-mobile-robots-manipulators/64659/",
year = 2012
}

H Valsamos, V Moulianitis and N Aspragathos. Rapid evaluation of reconfigurable robots anatomies using computational intelligence. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Volume 6277 LNAI, number PART 2, 2010, pages 341-350. URL, AbstractDesigning a reconfigurable manufacturing robotic workcell is a complex and resource demanding procedure. In this work a multi criteria index is introduced, allowing the designer to evaluate the various anatomies achieved by a reconfigurable manipulator, and to define the area in the manipulator's configuration space where a task can be accomplished with good performance under the selected performance measure. An adaptive neuro-fuzzy inference system is trained, in order to rapidly produce the index value for arbitrary anatomies achieved by the manipulator. The system is tested using a case study reconfigurable manipulator, and the derived results determined by the system after its training are presented and compared to the actual index value for calculated for the relevant anatomy.BibTeX

@incollection{Valsamos2010341,
author = "Valsamos, H. and Moulianitis, V. and Aspragathos, N.",
title = "Rapid evaluation of reconfigurable robots anatomies using computational intelligence",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
year = 2010,
volume = "6277 LNAI",
number = "PART 2",
pages = "341-350",
note = "cited By (since 1996)0",
url = "http://link.springer.com/chapter/10.1007%2F978-3-642-15390-7_35",
affiliation = "Mechanical and Aeronautics Engineering Dept., University of Patras, 26500, Rio, Achaia, Greece; Dept. of Product and Systems Design Engineering, University of Aegean, 84100, Ermoupolis, Syros, Greece",
abstract = "Designing a reconfigurable manufacturing robotic workcell is a complex and resource demanding procedure. In this work a multi criteria index is introduced, allowing the designer to evaluate the various anatomies achieved by a reconfigurable manipulator, and to define the area in the manipulator's configuration space where a task can be accomplished with good performance under the selected performance measure. An adaptive neuro-fuzzy inference system is trained, in order to rapidly produce the index value for arbitrary anatomies achieved by the manipulator. The system is tested using a case study reconfigurable manipulator, and the derived results determined by the system after its training are presented and compared to the actual index value for calculated for the relevant anatomy."
}